1A1-E24 不整地における四脚移動ロボットの自由歩容と姿勢安定化(脚移動ロボット)

抄録

This paper describes a quadruped robot's gait in the irregular terrain. On irregular terrain, a periodic gait is not effective because of constraints of foot position. In this paper, a free gait is designed and posture stabilization is proposed. It can be expected that the flexible move capability in the irregular terrain can be acquired by this.